Alarm control device and program

ABSTRACT

To allow a user to certainly recognize occurrence of a notification event, a notification control device ( 1 ) includes: a notification posture transition determining section ( 14 ) configured to determine whether a robot ( 100 ) is capable of undergoing a transition to a notification posture suitable for the user to recognize occurrence of a notification event; and a notification method determining section ( 15 ) configured to determine a notification method on a basis of a result of determination made by the notification posture transition determining section ( 14 ), the notification event being notified by the notification method.

TECHNICAL FIELD

The present invention relates to a notification control device and a program each for controlling notification of occurrence of a notification event.

BACKGROUND ART

There have been known conventional techniques for providing notification of an incoming telephone call, an incoming email, or the like received by a mobile device, by changing an exterior form of a mobile device body or a mobile device accessory. For example, Patent Literature 1 discloses an event notification mechanism in which a driving pattern generating section (i) generates a driving pattern signal in real time and (ii) sends the driving pattern signal to an actuator, so that an accessory of a communications terminal or the communications terminal as such changes in form. This notifies a user of an event that has occurred (e.g., an incoming telephone call, incoming email, or reception of a digital TV broadcast, etc.).

CITATION LIST Patent Literature

[Patent Literature 1] Japanese Patent Application Publication, Tokukai, No. 2007-214908 A (Publication Date: Aug. 23, 2007)

SUMMARY OF INVENTION Technical Problem

The event notification mechanism disclosed in Patent Literature 1 unfortunately does not determine a method of notifying an event in accordance with situations where it is not appropriate to change an exterior form of a mobile device body or a mobile device accessory. Such situations include (i) a situation where an object is in contact with a mobile device and (ii) a situation where the mobile device has a small residual quantity of a battery. This causes unfavorable situations where the user will not able to recognize occurrence of an event, in a case where an exterior form of the mobile device body or the mobile device accessory is changed even in the above situations. Such unfavorable situations include (i) the mobile device is damaged by colliding with the object and (ii) the change in exterior form discontinues.

Solution to Problem

In order to attain the above object, a notification control device in accordance with an aspect of the present invention is a notification control device, including: a notification posture transition determining section configured to determine whether a robot is capable of undergoing a transition to a notification posture suitable for a user to recognize occurrence of a notification event, the notification event being an event which causes the user to address a notification received from the robot; and a notification method determining section configured to determine a notification method on a basis of a result of determination made by the notification posture transition determining section, the notification event being notified by the notification method.

Advantageous Effects of Invention

An aspect of the present invention allows the user to certainly recognize occurrence of a notification event.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram schematically illustrating a configuration of a robot in accordance with Embodiment 1 of the present invention.

(a) of FIG. 2 is a schematic elevational view of the robot, (b) of FIG. 2 is a schematic rear view of the robot, and (c) of FIG. 2 is a schematic side view of the robot.

FIG. 3 illustrates an example of a notification posture table stored in a storage section of the robot.

FIG. 4 illustrates an example of a notification event occurrence table stored in a storage section of the robot.

FIG. 5 is a diagram schematically illustrating how to determine, with use of a camera section of the robot, whether the robot will be able to undergo a transition to a notification posture.

FIG. 6 is a flowchart illustrating how the notification control device in accordance with Embodiment 1 of the present invention controls notification of occurrence of a notification event (in a case where the notification event has arisen from an external factor).

FIG. 7 is a flowchart illustrating how the notification control device in accordance with Embodiment 1 of the present invention controls notification of occurrence of a notification event (in a case of a determined notification event).

FIG. 8 is a flowchart illustrating how the notification control device in accordance with Embodiment 1 of the present invention controls notification of occurrence of a notification event (in a case where a notification method that does not use a notification posture is screen display, vibration, or sound output).

FIG. 9 illustrates an example of a notification event priority table stored in a storage section of a robot in accordance with Embodiment 2 of the present invention.

FIG. 10 is a flowchart illustrating how a notification control device in accordance with Embodiment 2 of the present invention controls notification of occurrence of a notification event.

FIG. 11 illustrates an example of a notification posture table stored in a storage section of a robot in accordance with Embodiment 3 of the present invention.

FIG. 12 is a flowchart illustrating how a notification control device in accordance with Embodiment 3 of the present invention controls notification of occurrence of a notification event.

DESCRIPTION OF EMBODIMENTS Embodiment 1

The following description will discuss Embodiment 1 of the present invention in detail with reference to FIGS. 1 through 8. The descriptions of Embodiment 1 and subsequent embodiments each assume that a notification control device is provided in a bipedal humanoid robot having a mobile phone function. Note that the notification control device can alternatively be provided in robots in general such as a combat robot in an animated cartoon.

(Outline of robot) First, the description below outlines a robot 100 with reference to FIG. 2. (a) of FIG. 2 is a schematic elevational view of a robot 100 in accordance with Embodiment 1. (b) of FIG. 2 is a schematic rear view of the robot 100. (c) of FIG. 2 is a schematic side view of the robot 100.

The robot 100, as illustrated in (a) of FIG. 2, includes a head part 100 a, a body part 100 b, arm parts 100 c, leg parts 100 d, and foot parts 100 e. The robot 100 also includes (i) a neck part 100 g via which the head part 100 a is connected movably to the body part 100 b, (ii) shoulder joint parts 100 h via which the respective arm parts 100 c are connected movably to the body part 100 b, and (iii) leg joint parts 100 i via which the respective leg parts 100 d are connected movably to the body part 100 b. The robot 100 further includes foot joint parts 100 j via which the respective foot parts 100 e are connected movably to the respective leg parts 100 d. The neck part 100 g and all the joint parts each contain a servomotor 23 a (later described). Driving the servomotors 23 a allows movement of the head part 100 a, the arm parts 100 c, the leg parts 100 d, and the foot parts 100 e. The head part 100 a includes (i) a mouth part 1001 containing a loudspeaker section 21 (later described) and (ii) eye parts 100 n each containing a camera section 20 (later described). The foot parts 100 e each include a sole part 100 f containing a microphone section 25 (later described).

The body part 100 b, as illustrated in (b) and (c) of FIG. 2, includes a back part 100 k provided with a display section 22 (later described).

(Detailed Configuration of Robot)

The following description will discuss a detailed configuration of the robot 100 with reference to FIGS. 1, 3, and 4. FIG. 1 is a block diagram illustrating a detailed configuration of the robot 100. The robot 100, as illustrated in FIG. 1, includes a control section 10, camera sections 20, a loudspeaker section 21, a display section 22, a driving section 23, an operation input section 24, microphone sections 25, a transmitting/receiving section 26, an antenna section 27, a battery section 28, a storage section 29, and a state detecting section 30.

The control section 10 centrally controls the robot 100. The control section 10 includes a notification control device 1. The notification control device 1 centrally controls different processes for controlling notification of occurrence of a notification event (later described). The notification control device 1 will be later described in detail.

The camera sections 20 are each an image capturing section that captures an image of an object and that transmits data on the captured image to a notification posture transition determining section 14 (later described). The loudspeaker section 21 is a reproducing section that has the function of reproducing information including audio data and that includes a loudspeaker for outputting sound audible to a person(s) other than the user. The display section 22 displays various images such as images displayed in response to carrying out of various functions (application software) of the robot 100. The operation input section 24 receives an input of a user operation. The microphone sections 25 are each a sound collector for picking up sound during, for example, a telephone call. The transmitting/receiving section 26 transmits and receives various data such as audio data through the antenna section 27. The battery section 28 supplies electric power to the individual sections of the robot 100. The driving section 23 drives movable parts of the robot 100 such as the head part 100 a. The driving section 23 includes servomotors 23 a in a one-to-one correspondence with the neck part 100 g and all the joint parts.

The state detecting section 30 (i) detects a positional relationship between the robot 100 and an obstruction and then (ii) transmits a detection result to the notification posture transition determining section 14 (later described). The state detecting section 30 includes a contact sensor 30 a and a proximity sensor 30 b. The contact sensor 30 a detects whether the robot 100 is in contact with an obstruction. Examples of the contact sensor 30 a include a capacitive sensor and a pressure sensitive sensor. The proximity sensor 30 b detects whether the robot 100 is in proximity to an obstruction. That is, the proximity sensor 30 b detects whether the specific movable part will come into contact with an obstruction in a case where a specific movable part of the robot 100 moves only slightly. Examples of the proximity sensor 30 b include a capacitive sensor, a high-frequency oscillation sensor, and a magnetic sensor. Note that the state detecting section 30 is not necessarily composed of the contact sensor 30 a and the proximity sensor 30 b, and is therefore composed of at least one of them. The state detecting section 30 is provided in each of the movable parts of the robot 100 (not illustrated).

The following description will discuss a detailed configuration of the storage section 29. The storage section 29 stores, for example, a notification event occurrence table 29 a, a notification posture table 29 b, and various control programs that the control section 10 executes. The storage section 29 includes a nonvolatile storage device such as a hard disk and a flash memory. Note that a notification posture table 29 c and a notification event priority table 29 d will be later described.

FIG. 3 illustrates an example of the notification posture table 29 b stored in the storage section 29. A notification event refers to an event, such as an incoming telephone call, which causes the user to address the notification received from the robot. Example notification events include (i) events which arise from factors, occurred outside of the robot 100, such as an incoming telephone call and incoming email and (ii) determined notification events which arise from factors, occurred inside of the robot 100, such as alarms. A notification posture is a posture of the robot 100 which posture is suitable for the user to recognize occurrence of a notification event. Notification posture information refers to data on rotation positions of the respective servomotors 23 a which rotation positions correspond to respective notification postures.

Specifically, according to the notification posture table 29 b, an incoming telephone call (notification event) is associated with a notification posture A1 (No. 1 in FIG. 3). The robot 100, when in the notification posture A1, has the leg parts 100 d inclined toward an abdomen part 100 m so that (i) the microphone sections 25 (which are provided in the respective sole parts 100 f) are close to the mouth of the user's and that (ii) the loudspeaker section 21 (which is provided in the mouth part 1001) is close to an ear of the user's. The notification posture A1 allows the user to easily hold the robot 100 for a telephone conversation and to intuitively think of an incoming telephone call. Further, according to the notification posture table 29 b, an incoming telephone call and the notification posture A1 are associated with data on rotation positions of the first servomotor α=a1 through the n-th servomotors δ=n1 (notification posture information) which rotation positions correspond to the notification posture A1. The data on the rotation positions α through δ can include all values within a range such as a11<α<a12 through n11<δ<n12 (No. 2 in FIG. 3).

The association between the three elements applies similarly to a case where the notification event is an alarm, a turn-on of TV, or a reduction in residual quantity of a battery. As in No. 3 and No. 4 in FIG. 3, an alarm is associated with a notification posture A2, in which the robot 100 has one of the arm parts 100 c raised. The notification posture A2 thus allows the user to intuitively understand that the user needs to urgently address the notification event. Further, as in No. 5 and No. 6 in FIG. 3, a turn-on of TV is associated with a notification posture A4, in which the robot 100 has the body part 100 b inclined so that the display section 22 can be easily viewed by the user. The notification posture A4 thus allows the user to intuitively understand that the TV has been turned on. Further, as in No. 7 and No. 8 in FIG. 3, a reduction in residual quantity of a battery is associated with a notification posture A5, in which the robot 100 has the body part 100 b and the leg parts 100 d forming an angle of approximately 90 degrees to sit and which is suitable for charging of the robot 100. The notification posture A5 thus allows the user to intuitively understand that the battery is running short. A notification posture can alternatively refer to a state in which a particular movable part of the robot 100 is in motion. For example, as in No. 3 and No. 4 in FIG. 3, an alarm can be associated with a notification posture A3, in which one of the arm parts 100 c is in motion as if the robot 100 is waving a hand.

Next, FIG. 4 illustrates an example of the notification event occurrence table 29 a stored in the storage section 29. A determined notification event is a notification event which is determined by the user and arises from a factor occurred inside of the robot 100. A determined notification event occurrence condition is a condition that needs to be met for the corresponding determined notification event to occur. A determined notification event occurrence condition can be set by the user at will. Specifically, in a case where the user has determined a “first alarm (wakeup alarm)” as a determined notification event and determined “7:00 every day” as the corresponding determined notification event occurrence condition, these items of data are recorded in the notification event occurrence table 29 a in association with each other. This allows the first alarm to sound at 7:00 every day (No. 1 in FIG. 4). This description applies similarly to the other determined notification events for No. 2 through No. 4 in FIG. 4.

The following description will discuss a detailed configuration of the notification control device 1. The notification control device 1 includes a generation condition determining section 11, a notification event generating section 12, a notification event detecting section 13, a notification posture transition determining section 14, a notification method determining section 15, a notification posture transition section 16, and a notification method changing section 17.

The generation condition determining section 11 determines whether a determined notification event occurrence condition has been met. Upon receipt of, from the generation condition determining section 11, a determination result indicating that a determined notification event occurrence condition has been met, the notification event generating section 12 generates the corresponding determined notification event. The notification event detecting section 13 detects occurrence of a notification event (including a determined notification event).

Upon receipt of, from the notification event detecting section 13, a detection result indicating that the notification event detecting section 13 has detected occurrence of a notification event (including a determined notification event), the notification posture transition determining section 14 determines whether the robot 100 will be able to undergo a transition to a notification posture associated with the notification event that has occurred.

The notification method determining section 15 determines a method of notifying the notification event that has occurred, on the basis of a determination result received from the notification posture transition determining section 14. Specifically, upon receipt of, from the notification posture transition determining section 14, a determination result indicating that the robot 100 will be able to undergo a transition to a notification posture, the notification method determining section 15 determines to notify the user of a notification event that has occurred, in a notification posture associated with the notification event. Upon receipt of, from the notification posture transition determining section 14, a determination result indicating that the robot 100 will not be able to undergo a transition to a notification posture, the notification method determining section 15 determines to notify the user of a notification event that has occurred, by use of a notification method that does not involve any posture transition to be undergone by the robot 100. The notification method determining section 15 causes a member(s) of the robot 100 to operate which member(s) is(are) necessary to notify the user by use of the above method. Embodiment 1 exemplifies, as a notification method that does not involve any posture transition to be undergone by the robot 100, (i) a method of displaying, on a display screen of the display section 22, a notification event having occurred, (ii) a method of outputting, from the loudspeaker section 21, different sounds in accordance with kinds of respective notification events that have occurred (or alternatively a single particular sound regardless of the kinds of respective notification events), and (iii) a method of causing a vibrating section (not illustrated) to vibrate the robot 100. Note, however, that it is possible to notify the user of a notification event having occurred by a method other than the above methods or by combining two or more of the above methods.

Upon receipt of, from the notification method determining section 15, a determination result to the effect that the notification method determining section 15 has determined to notify the user in a notification posture, the notification posture transition section 16 controls driving of each servomotor 23 a so that the robot 100 will undergo a transition to the notification posture. Further, in a case where the notification posture transition section 16 has detected occurrence of a transition blocking event during the process of transition to a notification posture, the notification posture transition section 16 stops the transition to the notification posture and in a case where the notification posture transition section 16 has detected the finish of the transition blocking event, the notification posture transition section 16 resumes the stopped transition to the notification posture. A transition blocking event refers to an event that occurs during the process of transition to a notification posture and that blocks the transition to the notification posture. Example transition blocking events include (i) the robot 100 coming into contact with an obstruction over the course of transition to a notification posture and (ii) the residual quantity of the battery falling below a threshold. Such events are detected by the notification posture transition section 16 on the basis of an image captured by the camera sections 20, via the state detecting section 30, or directly.

In a case where the notification method changing section 17 has detected a stoppage of transition to a notification posture, the notification method changing section 17 changes the method of notifying the notification event that has occurred to a method that does not involve any posture transition undergone by the robot 100. In a case where the notification method changing section 17 has detected resumption of the transition to the notification posture, the notification method changing section 17 ends the notification being carried out by the notification method that does not involve any posture transition undergone by the robot 100. The notification method that does not involve any posture transition undergone by the robot 100 can be any one of a notification method of screen display, a notification method of sound output, and a notification method of vibration, or can be determined by the user from among the plurality of notification methods. The notification method changing section 17 can alternatively change the notification method to a notification method that combines two or more of the above methods. The notification method changing section 17 can alternatively be configured to automatically determine a notification method suitable for the current state of the robot 100; for example, the notification method changing section 17 can be configured to determine (i) a vibration method if the robot 100 is in the silent mode or (ii) a method that involves consumption of relatively small power (for example, sound output) if the robot 100 has a small residual quantity of a battery.

(Method of Determining Whether Robot Will be Able to Undergo Transition to Notification Posture)

The following description will discuss how the notification posture transition determining section 14 determines whether the robot 100 will be able to undergo a transition to a notification posture. The notification posture transition determining section 14 first detects a residual quantity of the battery section 28 so as to determine whether the battery section 28 has a residual quantity of not smaller than a specific threshold quantity. For example, such a specific threshold can be simply a residual quantity corresponding to electric power which is necessary for each of the servomotors 23 a to be driven. Alternatively, the specific threshold can be a residual quantity corresponding to electric power which is necessary for the robot 100 to undergo a transition to a notification posture from a posture the robot took at the time when the notification posture transition determining section 14 makes a determination described above. The amount of electric power, which is necessary for the robot 100 to undergo a transition to a notification posture, can be calculated, for example, by (i) measuring a rotation angle by which each of the servomotors 23 a rotates in a case where the robot 100 has undergone a transition to the notification posture and then (ii) totalizing electric powers calculated for the respective servomotors 23 a each of which electric powers is obtained by multiplying a corresponding rotation angle by a corresponding electric power consumption per a unit rotation angle (e.g., 1°). The threshold can be set in advance during production of the robot 100 or can be arbitrarily set by the user. In a case where the notification posture transition determining section 14 has determined that the battery section 28 has a residual quantity which is smaller than a specific threshold, the notification posture transition determining section 14 determines that the robot 100 will not be able to undergo a transition to a notification posture.

In a case where the notification posture transition determining section 14 has determined that the residual quantity is not smaller than the specific threshold, the notification posture transition determining section 14 (i) drives a servomotor(s) 23 a of each movable part of the robot 100 which movable part corresponds to a transition undergone by the robot 100 to the notification posture and (ii) determines whether at least one of the movable parts will come into collision with an obstruction. Specifically, the notification posture transition determining section 14 first determines, on the basis of a detection result obtained from the contact sensor 30 a, whether the collision will occur. Upon receipt of, from the contact sensor 30 a, a detection result indicating that none of the movable parts is in contact with an obstruction, the notification posture transition determining section 14 determines, on the basis of a detection result obtained from the proximity sensor 30 b, whether the collision will occur.

Upon receipt of, from the proximity sensor 30 b, a detection result indicating that none of the movable parts is close to an obstruction, the notification posture transition determining section 14 determines, on the basis of image data received from the camera section 20, whether the collision will occur. Specifically, with reference to the notification posture table 29 b, the notification posture transition determining section 14 simulates an operation route that each of the movable parts follows during a transition, to the notification posture, from a posture that the robot 100 takes at the time when the notification posture transition determining section 14 determines, on the basis of the image data, whether the collision will occur. The notification posture transition determining section 14 determines whether the collision will occur, by calculating, in the image data, a region in which each of the movable parts follows the operation route and then determining whether an obstruction stored in the image data is entirely or partially located in such a region. Note that in a case where the robot 100 is put in a bag or the like, it is highly likely that it is not possible to make a determination with use of the camera section 20. This is because a region surrounding the robot 100 is dark. In such a case, if the notification posture transition determining section 14 has determined that a region surrounding the robot 100 is dark, on the basis of image data or a detection result obtained from an illuminance sensor (not illustrated) which is additionally provided in the robot 100, then the notification posture transition determining section 14 can determine that at least one of the movable parts will collide with an obstruction.

For example, in a case where (i) an alarm sounds and (ii) the robot 100 takes a standing posture at the time when the notification posture transition determining section 14 determines, on the basis of image data, whether the collision will occur (see as illustrated in (a) of FIG. 5), the notification posture transition determining section 14 simulates an operation route which a right arm part 100 c follows while the robot 100 is undergoing a transition from a standing posture to a notification posture A2 (with the right arm part 100 c raised) associated with the alarm. In a case where an obstruction is located in a region on a side of a left arm part 100 c (see (b) of FIG. 5), no obstruction is located in a region in which the right arm part 100 c follows an operation route. As such, the notification posture transition determining section 14 determines that the right arm part 100 c will not collide with the obstruction. In a case where the obstruction is located in the region in which the right arm part 100 c follows the operation route (see (c) of FIG. 5), the notification posture transition determining section 14 determines that the right arm part 100 c will collide with the obstruction.

In a case where the notification posture transition determining section 14 has determined, with use of the camera section 20, that none of the movable parts will collide with an obstruction, the notification posture transition determining section 14 determines that the robot 100 will be able to undergo a transition to the notification posture. The notification posture transition determining section 14 determines that the robot 100 will not be able to undergo a transition to the notification posture, in a case where (i) at least one of the movable parts is in contact with an obstruction, (ii) at least one of the movable parts is close to an obstruction, or (iii) an obstruction is entirely or partially located in a region in which each of the movable parts of the robot 100 follows an operation route which movable parts correspond to transitions undergone by the robot 100 to the respective notification postures.

Note that an order of each determination, which is made with the use of (i) the contact sensor 30 a, (ii) the proximity sensor 30 b, and (iii) the camera section 20, is not limited to the order described above. Such an order can be arbitrarily set by the user. Furthermore, in a case where the notification posture transition determining section 14 determines whether the robot 100 will be able to undergo a transition to a notification posture, the notification posture transition determining section 14 does not need to use all of the above (i) through (iii) members. The notification posture transition determining section 14 can alternatively use another member.

(Controlling Notification of Occurrence of Notification Event with Use of Notification Control Device)

With reference to FIG. 6, the following description will discuss how the notification control device 1 controls notification of occurrence of a notification event in a case where the notification event has arisen from an external factor. FIG. 6 is a flowchart illustrating the control method.

As illustrated in FIG. 6, in a case where the notification event detecting section 13 has detected occurrence of a notification event (YES in step 100; hereinafter abbreviated to “Y in S100”), the notification event detecting section 13 first transmits the detection result to the notification posture transition determining section 14. In a case where the notification event detecting section 13 does not detect any occurrence of a notification event (NO in S100; hereinafter “NO” is abbreviated to “N”), the notification event detecting section 13 continues its operation to determine whether a notification event has occurred. Next, in the case where the determination made by the notification event detecting section 13 is Y in S100, the notification posture transition determining section 14 refers to the notification posture table 29 b to determine the notification posture associated with the notification event that has occurred (S101). Next, the notification posture transition determining section 14 determines whether the battery section 28 has a residual quantity which is necessary to drive the driving section 23 (S102), and determines whether a movable part, which is operated in response to the driving section 23 being driven, will collide with an obstruction (S103). In a case where the notification posture transition determining section 14 has determined that (i) the battery section 28 has a residual quantity (Y in S102) and (ii) the movable part will not collide with an obstruction (Y in S103), the notification posture transition determining section 14 determines that the robot 100 will be able to undergo a transition to the notification posture that has been determined (S104). In a case where the determination made by the notification posture transition determining section 14 is N in S102 or S103, the notification posture transition determining section 14 determines that the robot 100 will not be able to undergo a transition to the notification posture that has been determined (S115).

Next, upon receipt of, from the notification posture transition determining section 14, a determination result indicating that the robot 100 will be able to undergo a transition to the notification posture, the notification method determining section 15 determines to notify the user of occurrence of the notification event in the notification posture, and transmits a determined result to the notification posture transition section 16 (S105). Upon receipt of the determined result, the notification posture transition section 16 causes the robot 100 to start undergoing a transition to the notification posture (S106) and then detects whether a transition blocking event has occurred (S107). In a case where the notification posture transition section 16 does not detect any occurrence of a transition blocking event (N in S107), the notification posture transition section 16 causes the robot 100 to continue undergoing the transition to the notification posture (S113). After the robot 100 has completed undergoing the transition to the notification posture, the robot 100 notifies the user of the occurrence of the notification event in the notification posture (S114). In a case where the notification posture transition section 16 has detected occurrence of a transition blocking event (Y in S107), the notification posture transition section 16 causes the robot 100 to stop undergoing the transition to the notification posture (S108). Upon detection of such a stoppage, the notification method changing section 17 makes a change in method that does not involve any posture transition undergone by the robot 100 (S109). Upon detection of finish of the transition blocking event (Y in S110), the notification posture transition section 16 causes the robot 100 to resume undergoing the transition to the notification posture (S111). Upon detection of such a resumption, the notification method changing section 17 ends the notification of the occurrence of the notification event by use of the notification method that does not involve any posture transition undergone by the robot 100 (S112). S114 is then proceeded with. In a case where the finish of the transition blocking event is not detected (N in S110), the notification posture transition section 16 continues to determine whether the transition blocking event has finished.

Upon receipt of, from the notification posture transition determining section 14, a determination result indicating that the robot 100 will not be able to undergo a transition to the notification posture (S115 is proceeded with), the notification method determining section 15 determines whether the robot 100 is in a silent mode (S116). In a case where the notification method determining section 15 has determined that the robot 100 is in the silent mode (Y in S116), the notification method determining section 15 determines to notify, via screen display, the user of the occurrence of the notification event (S117), and then causes the display section 22 to display, on the display screen, the notification event having occurred (S118). In a case where the determination made by the notification method determining section 15 is N in S116, the notification method determining section 15 determines whether the loudspeaker section 21 is outputting sound (S119). In a case where the notification method determining section 15 has determined that the loudspeaker section 21 is not outputting sound (N in S119), the notification method determining section 15 determines to notify the user of the occurrence of the notification event in sound output (S120), and then causes the loudspeaker section 21 to output sound (S121). In a case where the determination made by the notification method determining section 15 is Y in S119, the step S117 and its subsequent steps are proceeded with.

With reference to FIG. 7, the following description will discuss how the notification control device 1 controls notification of occurrence of a determined notification event. FIG. 7 is a flowchart illustrating the control method. The description below omits dealing with steps subsequent to the end of S203 in FIG. 7, as those subsequent steps are similar to S102 and its subsequent steps in FIG. 6.

As illustrated in FIG. 7, the generation condition determining section 11 first refers to the notification event occurrence table 29 a to determine whether a determined notification event occurrence condition has been met (S200). In a case where the determination made by the generation condition determining section 11 is Y in S200, the generation condition determining section 11 transmits to the notification event generating section 12 a determination result to the effect that the condition has been met. In a case where the determination made by the generation condition determining section 11 is N in S200, the generation condition determining section 11 continues to determine whether the condition has been met. Then, the notification event generating section 12, when it has received the determination result from the generation condition determining section 11, generates the determined notification event associated with the determined notification event occurrence condition, which has been determined as being met (S201). Next, in a case where the notification event detecting section 13 has detected occurrence of the determined notification event (Y in S202), the notification event detecting section 13 transmits the detection result to the notification posture transition determining section 14. In a case where the notification event detecting section 13 does not detect occurrence of the determined notification event (N in S202), the notification event detecting section 13 continues to determine whether the notification event has occurred. Next, in a case where the determination made by the notification event detecting section 13 is Y in S202, the notification posture transition determining section 14 refers to the notification posture table 29 b to determine a notification posture associated with the determined notification event that has occurred (S203).

In the case where the robot 100 notifies the user of occurrence of a notification event by a notification method that does not involve any posture transition undergone by the robot 100, the notification method determining section 15 can alternatively first determine whether the loudspeaker section 21 is outputting sound and then determine whether the robot 100 is in the silent mode. Further, the robot 100 can alternatively have an additional option of notifying the user with use of vibration as illustrated in FIG. 8. Specifically, after S113 ends, the notification method determining section 15 determines whether the battery section 28 has a residual quantity of not smaller than a threshold (S300). In a case where the notification method determining section 15 has determined that the residual quantity is not smaller than the threshold (Y in S300), the notification method determining section 15 then proceeds with steps similar to S117 and S118 (S301 and S302). In a case where the notification method determining section 15 has determined that the residual quantity is smaller than the threshold (N in S300), the notification method determining section 15 proceeds with a step similar to S116 (S303). Then, in a case where the determination made by the notification method determining section 15 is Y in S303, the notification method determining section 15 determines to notify the user of the occurrence of the notification event with use of vibration (S304), and vibrates the robot 100 (S305). In a case where the determination made by the notification method determining section 15 is N in S303, the notification method determining section 15 proceeds with steps similar to S119 through S121 (S306 through S308).

(Effects)

As has been described, with the configuration of Embodiment 1, even in a case where the robot 100 is not able to notify, in a notification posture, the user of the occurrence of a notification event, the notification control device 1 determines a notification method, such as sound output, that does not involve any posture transition undergone by the robot 100. This allows the user to certainly recognize the occurrence of the notification event. Further, even in a case where a transition blocking event has occurred, the notification control device 1 of Embodiment 1 allows the user to certainly recognize the occurrence of the notification event.

Embodiment 2

The following description will discuss Embodiment 2 of the present invention with reference to FIGS. 9 and 10. For convenience of description, any member of Embodiment 2 that is identical in function to a corresponding member described for Embodiment 1 is assigned a common reference numeral, and a description thereof is omitted here.

A notification control device 2 of Embodiment 2 differs from the notification control device 1 of Embodiment 1 in that in a case where (i) a second notification event has occurred after a first notification event occurred (note that to each notification event a corresponding priority is set in accordance with a degree that a user necessitates to address) and (ii) the second notification event has a priority higher than that of the first notification event, the notification posture transition determining section 14 of Embodiment 2 determines whether a robot 200 will be able to undergo a transition to a second notification posture associated with the second notification event. The first notification event is a notification event that occurred first, and the second notification event is a notification event that has occurred after the first notification event occurred. A first notification posture is a notification posture associated with the first notification event, and the second notification posture is a notification posture associated with the second notification event. The notification control device 2 of Embodiment 2 further differs from the notification control device 1 of Embodiment 1 in that in a case where the robot 200 undergoes a transition to a second notification posture, the notification method changing section 17 of Embodiment 2 changes the method of notifying occurrence of the first notification event to a method that does not involve any posture transition undergone by the robot 200. The robot 200 of Embodiment 2 differs from the robot 100 of Embodiment 1 in that a notification event priority table 29 d is stored in the storage section 29.

(Transition to Notification Posture in a Case where a Plurality of Notification Events have Occurred)

With reference to FIG. 9, the following description will discuss how to undergo a transition to a notification posture in a case where a plurality of notification events have occurred. FIG. 9 illustrates an example of a notification event priority table 29 d stored in the storage section 29.

The notification event priority table 29 d is obtained by adding a column indicating “priority” to the notification posture table 29 b shown in FIG. 3. The notification event priority table 29 d shows correspondence between data stored in the notification posture table 29 b and a priority. The priority is set such that (i) a higher priority is set as a user's necessity of addressing is higher and (ii) a priority “1” is a lowest value (a priority is the lowest) and a priority “10” is a highest value (a priority is the highest). Note, here, that the priority of each of notification events shown in FIG. 9 is illustrative only. The user can therefore set and change the priorities at will. Note that, for simplification of description, the columns “rotation position of servomotor” and “notification posture” are omitted in FIG. 9.

As shown in FIG. 9, for example, in a case where (i) an alarm (a priority is “6”; the priority is a third highest) has occurred as a second notification event after an incoming telephone call (a priority is “8”; the priority is a second highest) occurred as a first notification event and (ii) the notification posture transition determining section 14 has not yet determined whether the robot 200 will be able to undergo a transition to a first notification posture A1 associated with the incoming telephone call, the notification posture transition determining section 14 makes such a determination. In a case where the robot 200 is undergoing a transition to the first notification posture A1, the notification posture transition section 16 causes the robot 200 to complete undergoing the transition to the first notification posture A1. Note that, in a case where the robot 200 has already completed undergoing the transition to the first notification posture A1, the notification posture transition section 16 causes the robot 200 to maintain the first notification posture A1.

For example, in a case where a reduction in residual quantity of a battery has occurred (a priority is “10”; the priority is the highest) as a second notification event after a turn-on of TV (a priority is “4”; the priority is the lowest) occurred as a first notification event, the notification posture transition determining section 14 determines whether the robot 200 will be able to undergo a transition to a second notification posture A5 associated with the reduction in residual quantity of the battery, regardless of whether the robot 200 has undergone a transitioned to a first notification posture A4 associated with the turn-on of TV.

Note that in order to address a case where two kinds of notification events, having identical priorities, occur (not shown in FIG. 9), a notification event to be prioritized can be set in advance during production of the robot 200 or can be arbitrarily set by the user.

(Controlling Notification of Occurrence of a Plurality of Notification Events with Use of Notification Control Device)

With reference to FIG. 10, the following description will discuss how the notification control device 2 controls notification of occurrence of a plurality of notification events. FIG. 10 is a flowchart illustrating the control method. The description below omits dealing with steps subsequent to the end of S408, S409, or S412 in FIG. 10, as those subsequent steps are similar to S107 or S116 and its subsequent steps in FIG. 6.

As illustrated in FIG. 10, in a case where the notification event detecting section 13 has detected occurrence of a second notification event (Y in S400), the notification event detecting section 13 transmits the detection result to the notification posture transition determining section 14. In a case where the notification event detecting section 13 does not detect any occurrence of a second notification event (N in S400), the notification event detecting section 13 continues to determine whether a second notification event has occurred. Then, in the case where the determination made by the notification event detecting section 13 is Y in S400, the notification posture transition determining section 14 refers to the notification event priority table 29 d to determine a second notification posture (S401).

Next, before receiving the detection result indicating that the second notification event has occurred, the notification posture transition determining section 14 determines whether it has already received, from the notification event detecting section 13, a result of detection of occurrence of a first notification event (S402). In a case where the determination made by the notification posture transition determining section 14 is N in S402, the notification posture transition determining section 14 determines whether (i) the battery section 28 has a residual quantity which is necessary for the robot 200 to undergo a transition to the second notification posture (S403) and (ii) a movable part, which is operated in a case where the robot 200 undergoes a transition to the second notification posture, will collide with an obstruction (S404). In a case where the notification posture transition determining section 14 has determined that (i) the battery section 28 has the residual quantity (Y in S403) and (ii) the movable part will not collide with the obstruction (Y in S404), the notification posture transition determining section 14 determines that the robot 200 will be able to undergo a transition to the second notification posture (S405). In a case where the determination made by the notification posture transition determining section 14 is N in S403 or S404, the notification posture transition determining section 14 determines that the robot 200 will not be able to undergo a transition to the second notification posture (S411).

Next, in a case where the determination made by the notification posture transition determining section 14 is Y in S402, the notification posture transition determining section 14 compares a priority of the first notification event with that of the second notification event (S410). In a case where the notification posture transition determining section 14 has determined that the first notification event has a priority lower than that of the second notification event (N in S410), the steps S403 through S405 are proceeded with. In a case where the notification posture transition determining section 14 has determined that the first notification event has a priority higher than that of the second notification event (Y in S410), the step S411 is proceeded with. After S411 ends, the notification method determining section 15 determines to notify the user of the occurrence of the second notification event by use of a notification method that does not involve any posture transition undergone by the robot 200 (S412). The robot 200 then proceeds with steps similar to the step S116 and its subsequent steps.

Next, upon receipt of, from the notification posture transition determining section 14, a determination result indicating that the robot 200 will be able to undergo a transition to the second notification posture, the notification method determining section 15 determines to notify, in the second notification posture, the user of the occurrence of the second notification, and then transmits a determination result to the notification posture transition section 16 (S406). Upon receipt of the determination result, the notification posture transition section 16 causes the robot 200 to start to undergo a transition to the second notification posture (S407). Next, the notification method changing section 17 determines whether the robot 200 has already undergone a transition to the first notification posture (S408). In a case where the determination made by the notification method changing section 17 is N in S408, the steps S107 and its subsequent steps are proceeded with. In a case where the determination made by the notification method changing section 17 is Y in S408, the notification method changing section 17 changes the method of notification of occurrence of the first notification event to a method that does not involve any posture transition undergone by the robot 200 (S409). After S409 ends, the robot 200 proceeds with steps similar to the step S116 and its subsequent steps.

(Effects)

As has been described above, with the configuration of Embodiment 2, it is possible that the user certainly addresses the first notification event or the second notification event which is higher in a degree that a user necessitates to address, regardless of an order in which the first notification event and the second notification event have occurred. Further, the robot 200 undergoing a transition to the second notification posture makes it possible to prevent the user from forgetting about the occurrence of the first notification event. This ultimately allows the user to certainly recognize the occurrence of the first notification event.

Embodiment 3

The following description will discuss Embodiment 3 of the present invention with reference to FIGS. 11 and 12. For convenience of description, any member of Embodiment 3 that is identical in function to a corresponding member described for Embodiment 1 or 2 is assigned a common reference numeral, and a description thereof is omitted here.

Embodiment 3 includes a notification control device 3, which differs from the notification control device 1 of Embodiment 1 and the notification control device 2 of Embodiment 2 in that in a case where a particular notification event is associated with a plurality of notification postures, the notification posture transition determining section 14 of Embodiment 3 determines whether a robot 300 can undergo a transition to any of the plurality of notification postures. The robot 300 of Embodiment 3 also differs from the robot 100 of Embodiment 1 and the robot 200 of Embodiment 2 in that a notification posture table 29 c is stored in the storage section 29.

(Method of determining whether robot will be able to undergo transition to notification posture) With reference to FIG. 11, the following description will discuss how the notification posture transition determining section 14, in a case where a particular notification event is associated with a plurality of notification postures, determines whether the robot 300 will be able to undergo a transition to a notification posture. FIG. 11 illustrates an example of the notification posture table 29 c stored in the storage section 29.

The notification posture table 29 c is a data table that shows correspondence between notification events, notification posture information, and notification postures and that associates a single notification event with a plurality of items of notification posture information and a plurality of notification postures. For example, the notification posture table 29 c, as shown in FIG. 11, associates an alarm (notification event) with (i) a notification posture A2 (with the right arm part 100 c raised) and (ii) notification posture information corresponding to the notification posture A2 (where data on the respective rotation positions of the first through n-th servomotors is set so that α=a2 through δ=n2 or a21<α<a22 through n21<δ<n22) (Pattern 1). The notification posture table 29 c associates the alarm also with (i) a notification posture A2′ (with the left arm part 100 c raised) and (ii) notification posture information corresponding to the notification posture A2′ (where data on the respective rotation positions of the first through n-th servomotors is set so that α=a2′ through δ=n2′ or a21′<α<a22′ through n21′<δ<n22′) (Pattern 2).

Specifically, in a case where the alarm is raised, the notification posture transition determining section 14 first determines that the notification posture A2 of Pattern 1 is a target posture for the determination of whether the robot 300 will be able to undergo a transition to a notification posture. The notification posture transition determining section 14 then determines whether the robot 300 will be able to undergo a transition to the notification posture A2, by use of a method similar to the method of determining whether the robot 100 of Embodiment 1 will be able to undergo a transition to a notification posture. Next, in a case where the notification posture transition determining section 14 has determined that the robot 300 will not be able to undergo a transition to the notification posture A2 because, for example, an obstruction is located within a region of an operation route which the right arm part 100 c follows, the notification posture transition determining section 14 determines that the notification posture A2′ of Pattern 2 is to be the target posture, and then makes a determination similar to the above. In a case where the notification posture transition determining section 14 has determined that the robot 300 will not be able to undergo a transition to either of the notification postures A2 and A2′, the notification posture transition determining section 14 determines whether there is another notification posture which has not been the target posture. In the case of the example illustrated in FIG. 11, the notification posture transition determining section 14 has already determined whether the robot 300 will be able to undergo a transition to each of the notification postures. The notification posture transition determining section 14 therefore ultimately determines that the robot 300 will not be able to undergo a transition to any notification posture associated with the alarm.

The notification posture transition determining section 14 can determine a notification posture from among a plurality of notification postures for the determination in any order. The order can be set in advance during production of the robot 300 or can be arbitrarily set by the user. Further, a particular notification event is not necessarily associated with two patterns as in FIG. 11 (each pattern referring to a combination of notification posture information and a notification posture), and can be associated with more than two patterns.

(Controlling Notification of Occurrence of Notification Event with Use of Notification Control Device)

With reference to FIG. 12, the following description will discuss how the notification control device 3, in a case where a particular notification event is associated with a plurality of notification postures, controls notification of occurrence of such a notification event. FIG. 12 is a flowchart illustrating the control method. The description below omits dealing with S500 through S514 and S516 through S522 in FIG. 12, as those steps are similar to S100 through S114 and S115 through S121 in FIG. 6.

As illustrated in FIG. 12, in a case where the notification posture transition determining section 14 has determined that the battery section 28 does not have a residual quantity which is necessary to drive the driving section 23 (N in S502) or that a movable part will collide with an obstruction in a case where the driving section 23 is driven (N in S503), the notification posture transition determining section 14 determines whether the notification posture transition determining section 14 has already determined, for each of a plurality of notification postures associated with the notification event that has occurred, whether the robot 300 will be able to undergo a transition to that posture transition (S515). In a case where the notification posture transition determining section 14 has already determined for each of the plurality of notification postures whether the robot 300 will be able to undergo a transition to that posture transition (Y in S515), the step S516 is proceeded with. In a case where the notification posture transition determining section 14 has not yet determined for each of the plurality of notification postures whether the robot 300 will be able to undergo a transition to that posture transition (N in S515), the notification posture transition determining section 14 proceeds with the steps S501 through S503 again.

(Effects)

As has been described, Embodiment 3 is configured to allow for, over a case where a particular notification event is associated with only one notification posture, an increased possibility that the robot 300 is able to notify, in a notification posture, the user of occurrence of a notification event. This more certainly allows the user to visually recognize the occurrence of the notification event.

[Software Implementation Example]

Each control block of the notification control devices 1 through 3 (particularly, the control section 10 and the notification posture transition determining section 14) may be realized by a logic circuit (hardware) on an integrated circuit (IC chip) or may be realized by software as executed by a CPU (central processing unit). In a case where the each control block is realized by software as executed by a CPU, each of the notification control devices 1 through 3 includes: the CPU that executes instructions of a program (software) that realizes each function; a ROM (read only memory) or a storage device (hereinafter referred to as a “storage medium”) which stores the program and various kinds of data so as to be read by a computer (or the CPU); and a RAM (random access memory) that develops the program. The object of the present invention is achieved by the computer (or the CPU) reading the program from the storage medium and executing the program. The storage medium can be a “non-transitory tangible medium”, for example, a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The program may be transferred to the computer via a given transfer medium which can transfer the program (e.g., a communications network or broadcast waves). The present invention can also be implemented by the program in the form of a data signal embedded in a carrier wave which is embodied by electronic transmission.

[Recapitulation]

A notification control device (1, 2, 3) in accordance with a first aspect of the present invention is a notification control device, including: a notification posture transition determining section (14) configured to determine whether a robot (100, 200, 300) is capable of undergoing a transition to a notification posture suitable for a user to recognize occurrence of a notification event, the notification event being an event which causes the user to address a notification received from the robot; and a notification method determining section (15) configured to determine a notification method on a basis of a result of determination made by the notification posture transition determining section, the notification event being notified by the notification method. This configuration allows, by use of some method, the user to recognize a notification event that has occurred, even in a case where the robot will not be able to undergo a transition to a notification posture. Therefore, even in a case where the robot will not be able to undergo a transition to a notification posture, the above configuration allows the user to certainly recognize the occurrence of the notification event.

In a second aspect of the present invention, a notification control device (1, 2, 3) is configured such that in the first aspect of the present invention, the notification method determining section (15) determines that a method, which does not involve any posture transition of the robot (100, 200, 300), is employed as the notification method, in a case where the notification posture transition determining section (15) has determined that the robot is incapable of undergoing a transition to the notification posture. With this configuration, in a case where the robot will not be able to notify the user of occurrence of a notification event by use of a notification method using a notification posture, the notification method determining section determines a notification method, such as sound output, that does not involve any posture transition undergone by the robot. Therefore, even in a case where the robot will not be able to undergo a transition to a notification posture, the above configuration allows the user to certainly recognize the occurrence of the notification event.

In a third aspect of the present invention, a notification control device (3) is configured such that the notification posture is associated with a plurality of notification postures; and the notification posture transition determining section (14) determines whether there is a posture, of the plurality of notification postures, to which posture the robot (300) is capable of undergoing a transition.

This configuration allows for, over a case where the notification event is associated with only one notification posture, an increased possibility that the robot is able to notify the user of occurrence of a notification event in a notification posture. This more certainly allows the user to visually recognize the occurrence of the notification event.

In a fourth aspect of the present invention, a notification control device (2) is configured such that in the first or second aspect of the present invention, the notification event includes a first notification event and a second notification event; each of the first notification event and the second notification event to which a corresponding priority is set in accordance with a degree that a user necessitates to address; and in a case where (i) the second notification event has occurred after occurrence of the first notification event and (ii) the second notification event has a priority higher than that of the first notification event, the notification posture transition determining section (14) determines whether the robot is capable of undergoing a transition to a second notification posture associated with the second notification event. This configuration allows the user to certainly recognize the second notification, in a case where the second notification event has a higher priority. Further, the above configuration allows the user to certainly address the first notification event or the second notification event which is higher in a degree that a user necessitates to address, regardless of an order in which the first notification event and the second notification event have occurred.

The notification control device (2) in accordance with the fourth aspect of the present invention can further include a notification method changing section configured to change the notification method determined by the notification method determining section (15) to a different notification method, wherein in a case where the second notification event occurred after occurrence of the first notification event and the notification posture transition determining section has determined that the robot is capable of undergoing a transition to the second notification posture, the notification method changing section changes the method of notifying the occurrence of the first notification event to a method that does not involve any posture transition undergone by the robot. With this configuration, the robot undergoing a transition to the second notification posture can prevent the user from forgetting about the occurrence of the first notification event. This ultimately allows the user to certainly recognize the occurrence of the first notification event.

The notification control device (1, 2, 3) in accordance with any of the first to fourth aspects of the present invention can further include a notification posture transition section configured to, in a case where the notification method determining section (15) has determined a notification method that uses a notification posture, cause the robot to undergo a transition to that notification posture, wherein in a case where the notification posture transition section has detected occurrence of a transition blocking event, which blocks the transition to the notification posture, during a process of the transition to the notification posture, the notification posture transition section stops the transition to the notification posture; and in a case where the notification posture transition section has stopped the transition to the notification posture, the notification method changing section changes the method of notifying the occurrence of the notification event to a method that does not involve any posture transition undergone by the robot (100, 200, 300). This configuration allows the user to certainly recognize the occurrence of the notification event even in a case where a transition blocking event has occurred. The above configuration can also prevent the robot from, for example, suffering from damage that would have been caused if the transition to the notification posture had continued despite occurrence of a transition blocking event.

The notification control device (1, 2, 3) in accordance with any of the first to fourth aspects of the present invention can be configured such that in a case where the notification posture transition section has detected finish of the transition blocking event with the transition to the notification posture stopped, the notification posture transition section resumes the transition to the notification posture; and in a case where the notification posture transition section has resumed the transition to the notification posture, the notification method changing section ends notifying the occurrence of the notification event by a method that does not involve any posture transition undergone by the robot (100, 200, 300). This configuration certainly allows the user to visually recognize occurrence of a notification event in a case where the transition blocking event has finished. The above configuration can also prevent the notification control device from notifying the user of occurrence of a notification event by more notification methods than necessary, thereby preventing wasteful electric power consumption.

In a fifth aspect of the present invention, a robot (100, 200, 300) can include a notification control device (1, 2, 3) in accordance with any one of the first to fourth aspects of the present invention.

This configuration allows for production of a robot that allows the user to certainly recognize the occurrence of the notification event.

The notification control device (1, 2, 3) according to the foregoing embodiments of the present invention can be in the form of a computer. In this case, the present invention encompasses: a notification control program for the notification control device which program causes a computer to operate as each of the above sections of the notification control device so that the notification control device can be in the form of a computer; and a computer-readable recording medium storing the notification control program.

The present invention is not limited to the description of the embodiments above, but may be altered in various ways by a skilled person within the scope of the claims. Any embodiment based on a proper combination of technical means disclosed in different embodiments is also encompassed in the technical scope of the present invention. Further, combining technical means disclosed in different embodiments can provide a new technical feature.

INDUSTRIAL APPLICABILITY

The present invention is generally applicable to techniques for allowing a user to recognize a notification event.

REFERENCE SIGNS LIST

-   -   1, 2, 3: Notification control device     -   14: Notification posture transition determining section     -   15: Notification method determining section 

1. A notification control device, comprising: a notification posture transition determining section configured to determine whether a robot is capable of undergoing a transition to a notification posture suitable for a user to recognize occurrence of a notification event, the notification event being an event which causes the user to address a notification received from the robot; and a notification method determining section configured to determine a notification method on a basis of a result of determination made by the notification posture transition determining section, the notification event being notified by the notification method.
 2. The notification control device according to claim 1, wherein the notification method determining section determines that a method, which does not involve any posture transition of the robot, is employed as the notification method, in a case where the notification posture transition determining section has determined that the robot is incapable of undergoing a transition to the notification posture.
 3. The notification control device according to claim 1, wherein: the notification posture is associated with a plurality of notification postures; and the notification posture transition determining section determines whether there is a posture, of the plurality of notification postures, to which posture the robot is capable of undergoing a transition.
 4. The notification control device as set forth in claim 1, wherein: the notification event includes a first notification event and a second notification event; each of the first notification event and the second notification event to which a corresponding priority is set in accordance with a degree that a user necessitates to address; and in a case where (i) the second notification event has occurred after occurrence of the first notification event and (ii) the second notification event has a priority higher than that of the first notification event, the notification posture transition determining section determines whether the robot is capable of undergoing a transition to a second notification posture associated with the second notification event.
 5. (canceled)
 6. A method of controlling notification, comprising the steps of: (a) determining whether a robot is capable of undergoing a transition to a notification posture suitable for a user to recognize occurrence of a notification event, the notification event being an event which causes the user to address a notification received from the robot; and (b) determining a notification method on a basis of a result of determination made in the step (a), the notification event being notified by the notification method. 